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test: add matrix/quaternion consistency checks

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This commit is contained in:
Danny Robson 2016-09-14 17:54:25 +10:00
parent 83484a6ea1
commit e2b4e48315
2 changed files with 74 additions and 0 deletions
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1
Makefile.am
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@ -385,6 +385,7 @@ TEST_BIN = \
test/alloc/dynamic \
test/alloc/linear \
test/alloc/stack \
test/affine \
test/backtrace \
test/bezier \
test/bitwise \

73
test/affine.cpp Normal file
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@ -0,0 +1,73 @@
#include "tap.hpp"
#include "vector.hpp"
#include "matrix.hpp"
#include "quaternion.hpp"
///////////////////////////////////////////////////////////////////////////////
void
test_mq_axis (util::TAP::logger &tap)
{
static const struct {
util::vector3f euler;
const char *msg;
} TESTS[] = {
{ { 1, 0, 0 }, "x-axis" },
{ { 0, 1, 0 }, "y-axis" },
{ { 0, 0, 1 }, "z-axis" },
};
for (auto t: TESTS) {
auto m = util::matrix4f::rotation (1, t.euler);
auto q = util::quaternionf::rotation (1, t.euler);
auto diff = sum (abs (m - q.as_matrix ()));
tap.expect_le (diff, 1e-6f, "matrix/quaternion rotation identities, %s", t.msg);
}
}
///////////////////////////////////////////////////////////////////////////////
void
test_mq_euler (util::TAP::logger &tap)
{
static const struct {
util::vector3f euler;
const char *msg;
} TESTS[] = {
{ { 0, 0, 0 }, "zeroes" },
{ { 1, 0, 0 }, "x-axis" },
{ { 0, 1, 0 }, "y-axis" },
{ { 0, 0, 1 }, "z-axis" },
{ { 1, 1, 1 }, "ones" },
{ { 9, 9, 9 }, "nines" }
};
for (auto t: TESTS) {
auto m = util::matrix4f::rotation (t.euler[0], { 1, 0, 0 }) *
util::matrix4f::rotation (t.euler[1], { 0, 1, 0 }) *
util::matrix4f::rotation (t.euler[2], { 0, 0, 1 });
auto q = (
util::quaternionf::rotation (t.euler[0], { 1, 0, 0 }) *
util::quaternionf::rotation (t.euler[1], { 0, 1, 0 }) *
util::quaternionf::rotation (t.euler[2], { 0, 0, 1 })
).as_matrix ();
auto diff = util::sum (abs (m - q));
tap.expect_le (diff, 1e-6f, "matrix-quaternion xyz euler rotations, %s", t.msg);
}
}
///////////////////////////////////////////////////////////////////////////////
int
main (int, char**)
{
util::TAP::logger tap;
test_mq_axis (tap);
test_mq_euler (tap);
return tap.status ();
}